Francisco Santos / Mbed 2 deprecated SRA_VFF

pepe

Dependencies:   mbed Matrix

Robot.cpp@2:06b7789c7da0, 2019-11-24 (annotated)

Committer:
FJMS
Date:
Sun Nov 24 18:37:46 2019 +0000
Revision:
2:06b7789c7da0
Parent:
1:2716ea33958b 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
PedroMartins96 0:a7324f51348d 1 #include "Robot.h"
PedroMartins96 0:a7324f51348d 2 #include "mbed.h"
PedroMartins96 1:2716ea33958b 3 #include "Matrix.h"
PedroMartins96 0:a7324f51348d 4
PedroMartins96 0:a7324f51348d 5 Serial PC(SERIAL_TX, SERIAL_RX);
PedroMartins96 0:a7324f51348d 6 I2C i2c(I2C_SDA, I2C_SCL );
PedroMartins96 0:a7324f51348d 7 const int addr8bit = 20 << 1; // 7bit I2C address is 20; 8bit I2C address is 40 (decimal).
PedroMartins96 1:2716ea33958b 8 Matrix map(80,80);
PedroMartins96 0:a7324f51348d 9 int16_t countsLeft = 0;
PedroMartins96 0:a7324f51348d 10 int16_t countsRight = 0;
PedroMartins96 1:2716ea33958b 11 int i, j;
PedroMartins96 1:2716ea33958b 12
FJMS 2:06b7789c7da0 13 float De=0, Dd=0, pi=3.141529, Ldis=14.2, r=6.95/2, theta=0, teta=0, teta_=0, x=20, y=20, D=0, Wee=0, Wdd=0, v=0, w=0;
PedroMartins96 1:2716ea33958b 14 float xc, yc; // coordenadas da célula
PedroMartins96 1:2716ea33958b 15 float x_obj = 0, y_obj = 0;
FJMS 2:06b7789c7da0 16 float xf = 100, yf = 20; // coordenadas finais
PedroMartins96 1:2716ea33958b 17
FJMS 2:06b7789c7da0 18 float fcr = 500; // Força Constante Repulsiva
FJMS 2:06b7789c7da0 19 float fca = 30; // Força Constante Atrativa
PedroMartins96 1:2716ea33958b 20 float fre_x = 0, fre_y = 0, fa_x = 0, fa_y = 0, Fr_x = 0, Fr_y = 0;
PedroMartins96 0:a7324f51348d 21
PedroMartins96 0:a7324f51348d 22
PedroMartins96 1:2716ea33958b 23 float d = 0, dt = 0;
PedroMartins96 1:2716ea33958b 24 float P = 0, I = 0;
PedroMartins96 1:2716ea33958b 25 float phi1=0,aux=0;
FJMS 2:06b7789c7da0 26 float Kv=5, Ks=10, Ki = 0.01;
PedroMartins96 1:2716ea33958b 27 float erro = 0;
PedroMartins96 1:2716ea33958b 28 int aux_x = 0, aux_y = 0;
PedroMartins96 1:2716ea33958b 29
FJMS 2:06b7789c7da0 30
PedroMartins96 1:2716ea33958b 31 //PC.baud(9600);
PedroMartins96 1:2716ea33958b 32 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 33 // Seguimento de um percurso //
PedroMartins96 1:2716ea33958b 34 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 35 void VFF()
PedroMartins96 0:a7324f51348d 36 {
PedroMartins96 1:2716ea33958b 37 while((abs(x)<abs(xf)-2)||(abs(y)<abs(yf)-2)||(abs(x)>abs(xf)+2)||(abs(y)>abs(yf)+2)) {
PedroMartins96 1:2716ea33958b 38 motion();
PedroMartins96 1:2716ea33958b 39 f_repulsiva();
PedroMartins96 1:2716ea33958b 40 f_atrativa();
PedroMartins96 1:2716ea33958b 41 Fr_x = fre_x + fa_x;
PedroMartins96 1:2716ea33958b 42 Fr_y = fre_y + fa_y;
FJMS 2:06b7789c7da0 43 //PC.printf("Fr_x=%f Fr_y=%f\n",Fr_x,Fr_y);
FJMS 2:06b7789c7da0 44 //if(Fr_x<8) Fr_x=8;
FJMS 2:06b7789c7da0 45 //if(Fr_y<8) Fr_y=8;
PedroMartins96 1:2716ea33958b 46 x_obj = x + Fr_x;
PedroMartins96 1:2716ea33958b 47 y_obj = y + Fr_y;
PedroMartins96 1:2716ea33958b 48
PedroMartins96 1:2716ea33958b 49 erro = sqrt((x_obj-x)*(x_obj-x)+(y_obj-y)*(y_obj-y)) - 9;
PedroMartins96 1:2716ea33958b 50
PedroMartins96 1:2716ea33958b 51 P = Kv*erro;
PedroMartins96 1:2716ea33958b 52 I += erro;
PedroMartins96 1:2716ea33958b 53 v = P + Ki*I;
FJMS 2:06b7789c7da0 54 if(v>25) v = 25;
FJMS 2:06b7789c7da0 55 else if(v < -25) v=-25;
PedroMartins96 1:2716ea33958b 56
PedroMartins96 1:2716ea33958b 57 phi1=atan2((y_obj-y),(x_obj-x)); // Ângulo entre a posição final e a posição atual
PedroMartins96 1:2716ea33958b 58 aux = phi1-teta;
PedroMartins96 1:2716ea33958b 59 //Verifica se a diferença dos angulos pertence ao limite entre [-pi;pi]
PedroMartins96 1:2716ea33958b 60 if(aux<-pi) {
PedroMartins96 1:2716ea33958b 61 aux=aux+2*pi;
PedroMartins96 1:2716ea33958b 62 } else if(aux>pi) {
PedroMartins96 1:2716ea33958b 63 aux=aux-2*pi;
PedroMartins96 0:a7324f51348d 64 }
PedroMartins96 0:a7324f51348d 65
PedroMartins96 1:2716ea33958b 66 //Controlo proporcional
PedroMartins96 1:2716ea33958b 67 w=Ks*(aux);
PedroMartins96 1:2716ea33958b 68 if(w>5) w = 5;
PedroMartins96 1:2716ea33958b 69 else if(w<-5) w = -5;
FJMS 2:06b7789c7da0 70 motion();
PedroMartins96 0:a7324f51348d 71
PedroMartins96 1:2716ea33958b 72 //PC.printf("fre_x=%f fre_y=%f fa_x=%f fa_y=%f erro=%f P=%f I=%f v=%f w=%f x=%f y=%f\n", fre_x,fre_y,fa_x,fa_y,erro,P,I,v,w,x,y);
FJMS 2:06b7789c7da0 73 //PC.printf("%f %f %f\n",erro, x,y);
PedroMartins96 1:2716ea33958b 74 setSpeeds(Wee+33*abs(v)/v,Wdd+30*abs(v)/v);
PedroMartins96 0:a7324f51348d 75 }
PedroMartins96 1:2716ea33958b 76 setSpeeds(0,0);
PedroMartins96 0:a7324f51348d 77 }
PedroMartins96 0:a7324f51348d 78
PedroMartins96 0:a7324f51348d 79
PedroMartins96 1:2716ea33958b 80 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 81 // Cria Mapa //
PedroMartins96 1:2716ea33958b 82 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 83 void mapa(int x3,int y3)
PedroMartins96 0:a7324f51348d 84 {
PedroMartins96 1:2716ea33958b 85 for(i=1; i<=x3; i++) {
PedroMartins96 1:2716ea33958b 86 for(j=1; j<=y3; j++) {
PedroMartins96 1:2716ea33958b 87 if(i==1 || i==80 || j==1 || j==80) map.add(i,j,1);
PedroMartins96 1:2716ea33958b 88 else map.add(i,j,0);
PedroMartins96 1:2716ea33958b 89 //PC.printf("%d ", int(map.getNumber(i,j)));
PedroMartins96 1:2716ea33958b 90 }
PedroMartins96 1:2716ea33958b 91 //printf("\n");
PedroMartins96 1:2716ea33958b 92 //PC.printf("%d ", map.getNumber(i,-5));
PedroMartins96 1:2716ea33958b 93 }
PedroMartins96 1:2716ea33958b 94 PC.printf("I'm Ready\n");
PedroMartins96 1:2716ea33958b 95 }
PedroMartins96 0:a7324f51348d 96
PedroMartins96 1:2716ea33958b 97 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 98 // Cria objeto //
PedroMartins96 1:2716ea33958b 99 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 100 void cria_obj(int c, int l, int p[])
PedroMartins96 1:2716ea33958b 101 {
PedroMartins96 1:2716ea33958b 102 int k = p[0]/5;
PedroMartins96 1:2716ea33958b 103 int m = p[1]/5;
PedroMartins96 1:2716ea33958b 104 c = (c/5)/2;
PedroMartins96 1:2716ea33958b 105 l = (l/5)/2;
PedroMartins96 1:2716ea33958b 106 for(i=k-c+1; i<=k+c; i++)
PedroMartins96 1:2716ea33958b 107 {
PedroMartins96 1:2716ea33958b 108 for(j=m-l+1; j<=m+l; j++) {
PedroMartins96 1:2716ea33958b 109 if((i==(k-c+1)) || (i==(k+c)) || (j==(m-l+1)) || (j==(m+l))) map.add(i,j,1);
PedroMartins96 1:2716ea33958b 110 else map.add(i,j, 0);
PedroMartins96 0:a7324f51348d 111 }
PedroMartins96 0:a7324f51348d 112 }
PedroMartins96 0:a7324f51348d 113 }
PedroMartins96 0:a7324f51348d 114
PedroMartins96 1:2716ea33958b 115 void print_map(int x3, int y3)
PedroMartins96 0:a7324f51348d 116 {
PedroMartins96 1:2716ea33958b 117 //map.add(8, 16, 4);
PedroMartins96 1:2716ea33958b 118 for(i=1; i<=x3; i++) {
PedroMartins96 1:2716ea33958b 119 for(j=1; j<=y3; j++) {
FJMS 2:06b7789c7da0 120 //PC.printf("%d ", int(map.getNumber(i,j)));
PedroMartins96 0:a7324f51348d 121 }
PedroMartins96 1:2716ea33958b 122 printf("\n");
PedroMartins96 0:a7324f51348d 123 }
PedroMartins96 0:a7324f51348d 124 }
PedroMartins96 0:a7324f51348d 125
PedroMartins96 1:2716ea33958b 126 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 127 // Força Repulsiva //
PedroMartins96 1:2716ea33958b 128 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 129 void f_repulsiva()
PedroMartins96 1:2716ea33958b 130 {
PedroMartins96 1:2716ea33958b 131 fre_x = 0;
PedroMartins96 1:2716ea33958b 132 fre_y = 0;
FJMS 2:06b7789c7da0 133 aux_x = x/5 + 1;
FJMS 2:06b7789c7da0 134 aux_y = y/5 + 1;
PedroMartins96 1:2716ea33958b 135 for(i=aux_x-5; i<=aux_x+5; i++) {
PedroMartins96 1:2716ea33958b 136 for(j=aux_y-5; j<=aux_y+5; j++) {
PedroMartins96 1:2716ea33958b 137 if(i<=0 || i>80 || j<=0 || j>80 || (i == aux_x && j == aux_y)) {
PedroMartins96 1:2716ea33958b 138 // do nothing
PedroMartins96 1:2716ea33958b 139 } else {
FJMS 2:06b7789c7da0 140 xc = i*5 - 2.5;
FJMS 2:06b7789c7da0 141 yc = j*5 - 2.5;
FJMS 2:06b7789c7da0 142 d = sqrt((x-xc)*(x-xc)+(y-yc)*(y-yc));
FJMS 2:06b7789c7da0 143
FJMS 2:06b7789c7da0 144 fre_x = fre_x + ((fcr*map.getNumber(i,j)*(x-xc))/(d*d*d));
FJMS 2:06b7789c7da0 145 fre_y = fre_y + ((fcr*map.getNumber(i,j)*(y-yc))/(d*d*d));
FJMS 2:06b7789c7da0 146 //PC.printf("fre_x=%f fre_y=%f \n", fre_x,fre_y);
PedroMartins96 1:2716ea33958b 147 }
PedroMartins96 1:2716ea33958b 148 }
PedroMartins96 1:2716ea33958b 149 }
PedroMartins96 1:2716ea33958b 150 }
PedroMartins96 1:2716ea33958b 151
PedroMartins96 1:2716ea33958b 152 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 153 // Força Atrativa //
PedroMartins96 1:2716ea33958b 154 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 155 void f_atrativa()
PedroMartins96 1:2716ea33958b 156 {
PedroMartins96 1:2716ea33958b 157 dt = sqrt((xf-x)*(xf-x)+(yf-y)*(yf-y));
PedroMartins96 1:2716ea33958b 158 fa_x = fca*((xf-x)/dt);
PedroMartins96 1:2716ea33958b 159 fa_y = fca*((yf-y)/dt);
PedroMartins96 1:2716ea33958b 160 }
PedroMartins96 1:2716ea33958b 161
PedroMartins96 1:2716ea33958b 162 ////////////////////////////////////////////////////
PedroMartins96 1:2716ea33958b 163 // Odometria //
PedroMartins96 1:2716ea33958b 164 ////////////////////////////////////////////////////
PedroMartins96 0:a7324f51348d 165 void motion()
PedroMartins96 0:a7324f51348d 166 {
PedroMartins96 0:a7324f51348d 167 getCountsAndReset();
PedroMartins96 0:a7324f51348d 168 De=((2*pi*r)*countsLeft)/1440;
PedroMartins96 0:a7324f51348d 169 Dd=((2*pi*r)*countsRight)/1440;
PedroMartins96 0:a7324f51348d 170 theta=(Dd-De)/Ldis;
PedroMartins96 1:2716ea33958b 171
PedroMartins96 0:a7324f51348d 172 D=(De+Dd)/2;
PedroMartins96 1:2716ea33958b 173
PedroMartins96 0:a7324f51348d 174 if(theta==0) {
PedroMartins96 0:a7324f51348d 175 x=x+D*cos(teta);
PedroMartins96 0:a7324f51348d 176 y=y+D*sin(teta);
PedroMartins96 0:a7324f51348d 177 teta=teta;
PedroMartins96 0:a7324f51348d 178 } else {
PedroMartins96 0:a7324f51348d 179 x = x + D*((sin(theta/2)/(theta/2))*cos(teta+theta/2));
PedroMartins96 0:a7324f51348d 180 y = y + D*((sin(theta/2)/(theta/2))*sin(teta+theta/2));
PedroMartins96 0:a7324f51348d 181 teta=teta+theta;
PedroMartins96 0:a7324f51348d 182 }
PedroMartins96 1:2716ea33958b 183
FJMS 2:06b7789c7da0 184 teta=atan2(sin(teta),cos(teta));
PedroMartins96 0:a7324f51348d 185 //Limite entre [-2pi; 2pi]
FJMS 2:06b7789c7da0 186 //if (teta>=(pi)) {
FJMS 2:06b7789c7da0 187 // teta=teta-2*pi;
FJMS 2:06b7789c7da0 188 //}
FJMS 2:06b7789c7da0 189 //if (teta<=(-pi)) {
FJMS 2:06b7789c7da0 190 // teta=teta+2*pi;
FJMS 2:06b7789c7da0 191 //}
PedroMartins96 0:a7324f51348d 192
PedroMartins96 0:a7324f51348d 193 Wee=(v-(Ldis/2)*w);
PedroMartins96 0:a7324f51348d 194 Wdd=(v+(Ldis/2)*w);
FJMS 2:06b7789c7da0 195 PC.printf("De=%f Dd=%f x=%f y=%f teta=%f\n", De,Dd,x,y,teta);
PedroMartins96 0:a7324f51348d 196 }
PedroMartins96 0:a7324f51348d 197
PedroMartins96 0:a7324f51348d 198 void setSpeeds(int16_t leftSpeed, int16_t rightSpeed)
PedroMartins96 0:a7324f51348d 199 {
PedroMartins96 0:a7324f51348d 200 char buffer[5];
PedroMartins96 0:a7324f51348d 201
PedroMartins96 0:a7324f51348d 202 buffer[0] = 0xA1;
PedroMartins96 0:a7324f51348d 203 memcpy(&buffer[1], &leftSpeed, sizeof(leftSpeed));
PedroMartins96 0:a7324f51348d 204 memcpy(&buffer[3], &rightSpeed, sizeof(rightSpeed));
PedroMartins96 0:a7324f51348d 205
PedroMartins96 0:a7324f51348d 206 i2c.write(addr8bit, buffer, 5); // 5 bytes
PedroMartins96 0:a7324f51348d 207 }
PedroMartins96 0:a7324f51348d 208
PedroMartins96 0:a7324f51348d 209 void setLeftSpeed(int16_t speed)
PedroMartins96 0:a7324f51348d 210 {
PedroMartins96 0:a7324f51348d 211 char buffer[3];
PedroMartins96 0:a7324f51348d 212
PedroMartins96 0:a7324f51348d 213 buffer[0] = 0xA2;
PedroMartins96 0:a7324f51348d 214 memcpy(&buffer[1], &speed, sizeof(speed));
PedroMartins96 0:a7324f51348d 215
PedroMartins96 0:a7324f51348d 216 i2c.write(addr8bit, buffer, 3); // 3 bytes
PedroMartins96 0:a7324f51348d 217 }
PedroMartins96 0:a7324f51348d 218
PedroMartins96 0:a7324f51348d 219 void setRightSpeed(int16_t speed)
PedroMartins96 0:a7324f51348d 220 {
PedroMartins96 0:a7324f51348d 221 char buffer[3];
PedroMartins96 0:a7324f51348d 222
PedroMartins96 0:a7324f51348d 223 buffer[0] = 0xA3;
PedroMartins96 0:a7324f51348d 224 memcpy(&buffer[1], &speed, sizeof(speed));
PedroMartins96 0:a7324f51348d 225
PedroMartins96 0:a7324f51348d 226 i2c.write(addr8bit, buffer, 3); // 3 bytes
PedroMartins96 0:a7324f51348d 227 }
PedroMartins96 0:a7324f51348d 228
PedroMartins96 0:a7324f51348d 229 void getCounts()
PedroMartins96 0:a7324f51348d 230 {
PedroMartins96 0:a7324f51348d 231 char write_buffer[2];
PedroMartins96 0:a7324f51348d 232 char read_buffer[4];
PedroMartins96 0:a7324f51348d 233
PedroMartins96 0:a7324f51348d 234 write_buffer[0] = 0xA0;
PedroMartins96 0:a7324f51348d 235 i2c.write(addr8bit, write_buffer, 1);
PedroMartins96 0:a7324f51348d 236 wait_us(100);
PedroMartins96 0:a7324f51348d 237 i2c.read( addr8bit, read_buffer, 4);
PedroMartins96 0:a7324f51348d 238 countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
PedroMartins96 0:a7324f51348d 239 countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
PedroMartins96 0:a7324f51348d 240 }
PedroMartins96 0:a7324f51348d 241
PedroMartins96 0:a7324f51348d 242 void getCountsAndReset()
PedroMartins96 0:a7324f51348d 243 {
PedroMartins96 0:a7324f51348d 244 char write_buffer[2];
PedroMartins96 0:a7324f51348d 245 char read_buffer[4];
PedroMartins96 0:a7324f51348d 246
PedroMartins96 0:a7324f51348d 247 write_buffer[0] = 0xA4;
PedroMartins96 0:a7324f51348d 248 i2c.write(addr8bit, write_buffer, 1);
PedroMartins96 0:a7324f51348d 249 wait_us(100);
PedroMartins96 0:a7324f51348d 250 i2c.read( addr8bit, read_buffer, 4);
PedroMartins96 0:a7324f51348d 251 countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
PedroMartins96 0:a7324f51348d 252 countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
PedroMartins96 1:2716ea33958b 253 }
PedroMartins96 1:2716ea33958b 254
PedroMartins96 1:2716ea33958b 255 //int mapa[80][80] = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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